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    Gazebo仿真 ros control中的节点启动问题

    已定时 已固定 已锁定 已移动 未解决
    综合问题
    gazebo 仿真 urdf配置 ros2control
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    • 9
      956635683
      最后由 编辑

      四驱四转小车，gazebo启动成功：
      967f34fb-e944-441c-9edf-b2989bdfeb9e-image.png
      但是在运行以下代码时出错：

      1. ros2 control load_controller position_controller
      2. ros2 control set_controller_state position_controller active
      3. ros2 control set_controller_state position_controller inactive
        出错截图：

      cd84b31d-561c-46be-acbc-c2908f4628f5-image.png
      gazebo进程报错：
      e05e4517-d1a6-4a14-b72d-789935d80f15-image.png
      YAML文件截图：
      029e0849-dab8-443c-8bc7-2fc78e69ba66-image.png
      URDF文件：

      <?xml version="1.0"?>
<robot name="SLDASM6">
  <link name="base_footprint"/>
 
  <joint name="base_joint" type="fixed">  
    <parent link="base_footprint"/>  
    <child link="base_link"/>  
    <origin rpy="0 0 0" xyz="0 0 0"/>  
  </joint>  
  <link name="base_link">
    <inertial>
      <origin
        xyz="0 2.81892564846231E-18 -0.01"
        rpy="0 0 0" />
      <mass value="0.454477345778312" />
      <inertia
        ixx="0.000871431296911177"
        ixy="-1.28282275253518E-09"
        ixz="-8.22671320090087E-21"
        iyy="0.000871738130550077"
        iyz="-1.30062780621123E-21"
        izz="0.0017128709377427" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="/home/longqianjiang/gazebo_demo/src/myrobot/meshes/base_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="/home/longqianjiang/gazebo_demo/src/myrobot/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link name="LINK1">
    <inertial>
      <origin
        xyz="0 -1.38777878078145E-17 -0.0358503670123729"
        rpy="0 0 0" />
      <mass value="0.00733856168867493" />
      <inertia
        ixx="4.05757150334916E-06"
        ixy="-4.63221143029695E-23"
        ixz="2.76505770768833E-23"
        iyy="3.99722848663285E-06"
        iyz="4.18774943094673E-22"
        izz="2.67495324757519E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="/home/longqianjiang/gazebo_demo/src/myrobot/meshes/LINK1.STL" />
      </geometry>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="/home/longqianjiang/gazebo_demo/src/myrobot/meshes/LINK1.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="J1" type="continuous">
    <origin
      xyz="0.0654792997866397 0.0666132205566422 0"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="LINK1" />
    <axis
      xyz="0 0 1" />
    <hardwareInterface>Position</hardwareInterface>
  </joint>
  
  <link name="LINK11">
    <inertial>
      <origin
        xyz="0 -1.38777878078145E-17 2.77555756156289E-17"
        rpy="0 0 0" />
      <mass value="0.0327888025255167" />
      <inertia
        ixx="8.01891151764667E-06"
        ixy="-1.38966342908909E-22"
        ixz="5.38638611724067E-22"
        iyy="1.52508917746809E-05"
        iyz="2.6315261058982E-22"
        izz="8.01891151764667E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="/home/longqianjiang/gazebo_demo/src/myrobot/meshes/LINK11.STL" />
      </geometry>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="/home/longqianjiang/gazebo_demo/src/myrobot/meshes/LINK11.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="J11" type="continuous">
    <origin
      xyz="0 0 -0.07"
      rpy="0 0 0" />
    <parent
      link="LINK1" />
    <child
      link="LINK11" />
    <axis
      xyz="0 1 0" />
	<hardwareInterface>Velocity</hardwareInterface>
  </joint>
  <link name="LINK2">
    <inertial>
      <origin
        xyz="-6.93889390390723E-18 0 -0.0358503670123729"
        rpy="0 0 0" />
      <mass value="0.00733856168867492" />
      <inertia
        ixx="4.05757150334916E-06"
        ixy="2.31610571514848E-23"
        ixz="-3.83931492667846E-22"
        iyy="3.99722848663285E-06"
        iyz="-5.47440727449521E-22"
        izz="2.67495324757519E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="/home/longqianjiang/gazebo_demo/src/myrobot/meshes/LINK2.STL" />
      </geometry>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="/home/longqianjiang/gazebo_demo/src/myrobot/meshes/LINK2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="J2"
    type="continuous">
    <origin
      xyz="0.065479 -0.065785 0"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="LINK2" />
    <axis
      xyz="0 0 1" />
    <hardwareInterface>Position</hardwareInterface>
  </joint>
  <link name="LINK22">
    <inertial>
      <origin
        xyz="0 0 2.77555756156289E-17"
        rpy="0 0 0" />
      <mass value="0.0327888025255167" />
      <inertia
        ixx="8.01891151764668E-06"
        ixy="1.23911655760444E-21"
        ixz="1.87271335385636E-23"
        iyy="1.5250891774681E-05"
        iyz="9.5134033420699E-22"
        izz="8.01891151764668E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="/home/longqianjiang/gazebo_demo/src/myrobot/meshes/LINK22.STL" />
      </geometry>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="/home/longqianjiang/gazebo_demo/src/myrobot/meshes/LINK22.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="J22"
    type="continuous">
    <origin
      xyz="0 0 -0.0700000000000011"
      rpy="0 0 0" />
    <parent
      link="LINK2" />
    <child
      link="LINK22" />
    <axis
      xyz="0 1 0" />
	<hardwareInterface>Velocity</hardwareInterface>
  </joint>
  <link name="LINK3">
    <inertial>
      <origin
        xyz="1.38777878078145E-17 0 -0.0358503670123729"
        rpy="0 0 0" />
      <mass value="0.00733856168867492" />
      <inertia
        ixx="4.05757150334916E-06"
        ixy="-2.11758236813575E-22"
        ixz="-3.43745650941657E-22"
        iyy="3.99722848663285E-06"
        iyz="-4.01213179299295E-23"
        izz="2.67495324757519E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="/home/longqianjiang/gazebo_demo/src/myrobot/meshes/LINK3.STL" />
      </geometry>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="/home/longqianjiang/gazebo_demo/src/myrobot/meshes/LINK3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="J3"
    type="continuous">
    <origin
      xyz="-0.066308 0.066613 0"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="LINK3" />
    <axis
      xyz="0 0 1" />
    <hardwareInterface>Position</hardwareInterface>
  </joint>
  <link
    name="LINK33">
    <inertial>
      <origin
        xyz="0 -2.77555756156289E-17 0"
        rpy="0 0 0" />
      <mass
        value="0.0327888025255167" />
      <inertia
        ixx="8.01891151764667E-06"
        ixy="1.32348898008484E-23"
        ixz="1.20319233745711E-22"
        iyy="1.52508917746809E-05"
        iyz="1.48231251644303E-22"
        izz="8.01891151764667E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="/home/longqianjiang/gazebo_demo/src/myrobot/meshes/LINK33.STL" />
      </geometry>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="/home/longqianjiang/gazebo_demo/src/myrobot/meshes/LINK33.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="J33"
    type="continuous">
    <origin
      xyz="0 0 -0.07"
      rpy="0 0 0" />
    <parent
      link="LINK3" />
    <child
      link="LINK33" />
    <axis
      xyz="0 1 0" />
	<hardwareInterface>Velocity</hardwareInterface>
  </joint>
  <link
    name="LINK4">
    <inertial>
      <origin
        xyz="0 0 -0.0358503670123729"
        rpy="0 0 0" />
      <mass
        value="0.00733856168867491" />
      <inertia
        ixx="4.05757150334916E-06"
        ixy="-1.55159629369121E-44"
        ixz="1.32642618950926E-22"
        iyy="3.99722848663285E-06"
        iyz="-1.35845611653203E-22"
        izz="2.67495324757518E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="/home/longqianjiang/gazebo_demo/src/myrobot/meshes/LINK4.STL" />
      </geometry>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="/home/longqianjiang/gazebo_demo/src/myrobot/meshes/LINK4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="J4"
    type="continuous">
    <origin
      xyz="-0.0663076865851465 -0.0657848337581353 0"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="LINK4" />
    <axis
      xyz="0 0 1" />
    <hardwareInterface>Position</hardwareInterface>
	
  </joint>
  <link
    name="LINK44">
    <inertial>
      <origin
        xyz="1.38777878078145E-17 0 0"
        rpy="0 0 0" />
      <mass
        value="0.0327888025255167" />
      <inertia
        ixx="8.01891151764667E-06"
        ixy="1.05879118406788E-22"
        ixz="1.72429389430485E-21"
        iyy="1.52508917746809E-05"
        iyz="-1.73567112915338E-22"
        izz="8.01891151764667E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="/home/longqianjiang/gazebo_demo/src/myrobot/meshes/LINK44.STL" />
      </geometry>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="/home/longqianjiang/gazebo_demo/src/myrobot/meshes/LINK44.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="J44"
    type="continuous">
    <origin
      xyz="0 0 -0.0700000000000004"
      rpy="0 0 0" />
    <parent
      link="LINK4" />
    <child
      link="LINK44" />
    <axis
      xyz="0 1 0" />
	<hardwareInterface>Velocity</hardwareInterface>
  </joint>
  <gazebo reference="base_link">
	<material>Gazebo/Red</material>
  </gazebo>
  <gazebo reference="LINK1">
	<material>Gazebo/Red</material>
  </gazebo>
  <gazebo reference="LINK2">
	<material>Gazebo/Green</material>
  </gazebo>
  <gazebo reference="LINK3">
	<material>Gazebo/Blue</material>
  </gazebo>
  
  <gazebo>
    <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
      <parameters>/home/longqianjiang/gazebo_demo/src/myrobot/config/controller.yaml</parameters>
    </plugin>
  </gazebo>
  
  
  <ros2_control name="GazeboSystem" type="system">
    <hardware>
      <plugin>gazebo_ros2_control/GazeboSystem</plugin>
    </hardware>
    
    <joint name="J1">
      <command_interface name="position">
        <param name="min">-3.140000001</param>
        <param name="max">3.140000001</param>
		<param name="initial_value">0.00000001</param>
      </command_interface>
	  <state_interface name="position"/>
	  <state_interface name="velocity"/>
	    <param name="initial_value">0.00000001</param>
    </joint>

    <joint name="J11">
      <command_interface name="velocity">
	    <param name="min">-3.140000001</param>
        <param name="max">3.140000001</param>
      </command_interface>
      <state_interface name="velocity"/> 
	    <param name="initial_value">0.00000001</param>
	  <state_interface name="position">
        <param name="initial_value">0.00000001</param>
      </state_interface>
    </joint>

    <joint name="J2">
      <command_interface name="position">
        <param name="min">-3.140000001</param>
        <param name="max">3.140000001</param>
		<param name="initial_value">0.00000001</param>
      </command_interface>
	  <state_interface name="position"/>
	  <state_interface name="velocity"/>
	    <param name="initial_value">0.00000001</param>
    </joint>

    <joint name="J22">
      <command_interface name="velocity">
	    <param name="min">-3.140000001</param>
        <param name="max">3.140000001</param>
      </command_interface>
      <state_interface name="velocity"/> 
	    <param name="initial_value">0.00000001</param>
	  <state_interface name="position">
        <param name="initial_value">0.00000001</param>
      </state_interface>
    </joint>

    <joint name="J3">
      <command_interface name="position">
        <param name="min">-3.140000001</param>
        <param name="max">3.140000001</param>
		<param name="initial_value">0.00000001</param>
      </command_interface>
	  <state_interface name="position"/>
	  <state_interface name="velocity"/>
	    <param name="initial_value">0.00000001</param>
    </joint>

    <joint name="J33">
      <command_interface name="velocity">
	    <param name="min">-3.140000001</param>
        <param name="max">3.140000001</param>
      </command_interface>
      <state_interface name="velocity"/> 
	    <param name="initial_value">0.00000001</param>
	  <state_interface name="position">
        <param name="initial_value">0.00000001</param>
      </state_interface>
    </joint>

    <joint name="J4">
      <command_interface name="position">
        <param name="min">-3.140000001</param>
        <param name="max">3.140000001</param>
		<param name="initial_value">0.00000001</param>
      </command_interface>
	  <state_interface name="position"/>
	  <state_interface name="velocity"/>
	    <param name="initial_value">0.00000001</param>
    </joint>

    <joint name="J44">
      <command_interface name="velocity">
	    <param name="min">-3.140000001</param>
        <param name="max">3.140000001</param>
      </command_interface>
      <state_interface name="velocity"/> 
	    <param name="initial_value">0.00000001</param>
	  <state_interface name="position">
        <param name="initial_value">0.00000001</param>
      </state_interface>
    </joint>
  </ros2_control>
</robot>
      9 1 条回复 最后回复 回复 引用 0
      • 9
        956635683 @956635683
        最后由 956635683 编辑

        上面说我的'joints' parameter was empty ，可是我的controllers.yaml就放在\wsl.localhost\Ubuntu-22.04\home\longqianjiang\gazebo_demo\src\myrobot\config下面，URDF上写了绝对路径，应该是可以读到的，怎么会为空呢

        1 条回复 最后回复 回复 引用 0
        • 9
          956635683
          最后由 编辑

          自己解决了，是yaml的问题，改成如下格式即可，

          controller_manager:
          ros__parameters:
          update_rate: 100
          joint_state_broadcaster:
          type: joint_state_broadcaster/JointStateBroadcaster
          position_controller:
          type: position_controllers/JointGroupPositionController

          position_controller:
          ros__parameters:
          joints:
          - J1

          韭菜会自己长出来的是吧？

          小鱼小 1 条回复 最后回复 回复 引用 0
          • 小鱼小
            小鱼 技术大佬 @956635683
            最后由 编辑

            @956635683 emmmm?

            新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

            9 1 条回复 最后回复 回复 引用 0
            • 9
              956635683 @小鱼
              最后由 编辑

              @小鱼 鱼，gazebo有没有四驱四转的插件啊，自己写太痛苦了，网上比较多的是两驱差速，四驱看到一个差速的，四驱全向没找到

              小鱼小 1 条回复 最后回复 回复 引用 0
              • 小鱼小
                小鱼 技术大佬 @956635683
                最后由 编辑

                @956635683 这个大概率没有的，需要自己整

                新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                1 条回复 最后回复 回复 引用 0
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